CN115964831A - Vertical passage riser installation and lowering power analysis method, system and application - Google Patents
Vertical passage riser installation and lowering power analysis method, system and application Download PDFInfo
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Abstract
The invention belongs to the technical field of ocean engineering data processing, and discloses a vertical passage riser installation and lowering power analysis method, a system and application. Dividing the compliant vertical passage vertical pipe into flexible micro-sections based on a finite element discrete method, establishing a compliant vertical passage vertical pipe flexible micro-section model, and establishing a relation model of node bending moment, angle and length according to the corner characteristics of the flexible micro-sections; combining the stress of the established relation model of the node bending moment, the angle and the length and the top boundary condition, and establishing a variable-length compliant vertical access riser power analysis model through the balance relation of the force and the bending moment at each node; on the basis, the sea current flow rate, the weight of the bottom blowout preventer and the buoyancy block and the gravity block of the compliant vertical access riser are combined to obtain the length-variable dynamic response rule of the compliant vertical access riser in the vertical lowering process during installation.
Description
Technical Field
The invention belongs to the technical field of ocean engineering data processing, and particularly relates to a vertical passage riser installation and lowering power analysis method, system and application.
Background
The Compliant Vertical Access Riser (CVAR) is a novel Compliant rigid Riser with a special configuration, has a wide application prospect in deep water and ultra-deep water ocean oil gas development, and has important engineering significance for guaranteeing operation safety in the dynamic response analysis in the installation and lowering process.
At present, the power analysis of the installation and the lowering process of the marine riser regards the riser lowering operation as a static process, only different lowering lengths of the riser are selected for analysis, and the continuity of the lowering operation is ignored. The compliant vertical access riser installation and lowering process involves complex variable length dynamic response, and in addition, the unique buoyancy and gravity block configuration and environmental loads make the dynamic response more complex. However, the research on the compliant vertical access riser is still in a starting stage at present, and a variable-length dynamic response analysis method in the installation and lowering process of the compliant vertical access riser is not established yet, so that the dynamic characteristics of the compliant vertical access riser in the installation and lowering process cannot be accurately known.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) The existing method cannot realize variable-length dynamic response calculation in the installation and lowering process of the compliant vertical access vertical pipe, so that the obtained variable-length dynamic response rule data accuracy of the compliant vertical access vertical pipe in the installation and vertical lowering process is low.
(2) In the prior art, in the length-variable dynamic response prediction of the compliant vertical access riser in the vertical installation and lowering process, due to the poor prediction precision, the technical guarantee can not be provided for the installation operation safety of the deep-water compliant vertical access riser.
Disclosure of Invention
In order to overcome the problems in the related art, the disclosed embodiment of the invention provides a method and a system for analyzing the installation and lowering power of a vertical access riser and application thereof, and particularly relates to a method for analyzing the installation and lowering power of a deepwater compliant vertical access riser.
The technical scheme is as follows: the analysis method for the installation and lowering power of the deepwater compliant vertical access vertical pipe comprises the following steps:
s1, dividing a compliant vertical access riser into flexible micro-segments based on a finite element discrete method, establishing a compliant vertical access riser flexible micro-segment model, solving micro-segment corners according to the characteristics of the flexible micro-segment corners, and further establishing a node displacement solving model and a node speed solving model through the micro-segment corners;
s2, establishing a variable-length compliant vertical access riser power analysis model through a bending moment balance equation of force and bending moment at each node based on establishing a node displacement and speed solution model and combining model stress and boundary conditions at two ends;
and S3, combining the ocean current flow velocity, the weight of the bottom blowout preventer and the acting force of the buoyancy block and the gravity block on the compliant vertical access riser, and obtaining a length-variable dynamic response rule of the compliant vertical access riser in the vertical installation and lowering process through the established length-variable compliant vertical access riser power analysis model.
In step S1, dividing the compliant vertical passage riser into flexible micro-segments based on a finite element discretization method specifically includes:
and (3) taking a vertical pipe on the top floating body as an origin O, respectively taking the vertical pipe on the top floating body as the positive directions of an X axis and a Y axis along the movement direction of ocean current and vertically downwards, establishing an OXY global coordinate system, taking the compliant vertical passage vertical pipe as a two-dimensional Euler-Bernoulli beam, dispersing the compliant vertical passage vertical pipe into N sections of flexible micro-sections with equal length, and establishing a compliant vertical passage vertical pipe flexible micro-section model.
In step S1, solving the micro-segment rotation angle according to the characteristics of the flexible micro-segment rotation angle includes:
the flexible micro-section bends under the action of external force, and the corner of the riser micro-section is combined with the length of the riser micro-section according to the node angle and the micro-section angle to establish a flexible micro-section angle relation model formula (10); in the flexible micro-segment angle relation model expression (10),θ i is thatN i -N i+1 Angle of micro-segment, representing X-axis to line segment N i -N i+1 The corner of (d); delta theta i Is the change of the angle of the micro-segment and represents N j Node tangent to line N i -N i+1 The corner of (d); phi is a i and φi+1 Are all node angles and respectively represent the X axis to the node N i Tangent and node N i+1 The corner of the tangent line; delta phi i Denoted as node N i Tangent and node N i+1 The corner between the tangent lines is the change of the node angle;
the bending moment in the micro-segment is linearly changed and is respectively provided with a node N i Tangent and node N i+1 Bending moment of M i and Mi+1 Distance node N on micro-segment in flexible micro-segment bending moment relation model i The bending moment at any length l is expressed as:
wherein 
Is the length of a micro-segment at a certain time
According to the theory of elastic mechanics, the relationship between curvature and bending moment is:
wherein rho is curvature, M is bending moment, E is elastic modulus, and I is section inertia moment;
establishing a flexible micro-segment model bending model according to a relation model of the node bending moment, the angle and the length, wherein the intersection point of the normal lines at the two ends of the ds is a curvature center, and the curvature radius rho is obtained by the following formula (3):
in the formula 
Is a differential arc segment, is taken out>
Is a differential arc section corner;
substituting equation (3) into equation (2) yields:
substituting equation (1) into equation (4) and finding the length of the micro-segment
Integrating to obtain the change delta phi of the flexible micro-segment node rotation angle i Is represented by formula (5):
according to a geometric relationship delta theta i Expressed as:
micro-segment node angleφ i Expressed as:
substituting equation (4) into equation (7) to obtain the micro-segment node angleφ i Comprises the following steps:
micro-segment angleθ i Comprises the following steps:
substituting equation (6) and equation (8) into equation (9) to obtain the micro-segment angleθ i Further expressed as:
writing the relational expression of the micro-segment angle and the micro-segment node angle into a matrix form as follows:
wherein phi = [ phi ] 2 ，φ 3 ，φ 4 ，…，φ n+1 ] T ，φ 1 =[φ 1 ，φ 1 ，φ 1 ，…，φ 1 ] T ，θ=[θ 1 ，θ 2 ，θ 3 ，…，θ n ] T ，P 1 and P2 Are n × n matrices derived from equation (8) and equation (10), respectively.
In step S1, in establishing a node displacement solution model and a node velocity solution model by using a micro-segment corner, the solution of the node displacement solution model includes:
node N i+1 The coordinates in the X direction are:
nodes N of the same reason i+1 The coordinates in the Y direction are:
the node speed solving model solving comprises the following steps:
at the acquisition node N i+1 After displacement of (2), node N i+1 In the X and Y directions
and />
Acceleration of
and />
Further, the following equations (15) and (16) are respectively obtained;
in step S2, establishing a variable-length compliant vertical access riser dynamic analysis model by combining the stress of the relationship model of the node bending moment, the angle and the length and the top boundary condition through a bending moment equilibrium equation of the force and the bending moment at each node comprises:
the external forces encountered during installation and lowering of the compliant vertical access riser include: hydrodynamic, net weight, and inertial forces;
the mass and the external force act on the nodes, and the external force acting on each node meets the bending moment balance equation:
in the formula ,
，/>
respectively acting on node N i Combining the components of the external force in the X direction and the Y direction;
according to node N 1 ，N 2 ，N 3 ，…，N n Establishing n equation sets to obtain a variable-length compliant vertical access riser power analysis model; wherein, the bending moment value on each node is unknown, the node has N unknowns, and for the last node N n+1 Since the riser bottom end is free in the riser installation state, node N is defined by boundary conditions n+1 Bending moment of the column;
in the installation and lowering stage, the bottom boundary of the riser is in a free and unconstrained state, the motion state of the top boundary of the riser is the same as that of the floating platform, and the boundary conditions are expressed as follows:
wherein ,
and />
Respectively the lowering speed and the acceleration of the installation equipment;
n unknown quantities xi exist in the variable-length compliant vertical access riser power analysis model, and the variable-length compliant vertical access riser power analysis model is expressed as follows through a vector omega:
in one embodiment, the solving of the variable length compliant vertical access riser dynamics analysis model comprises:
(1) From the firstiThe time being known
and />
Solving for>
；
(2) The first is obtained by the formula (20) and the formula (21) i+ At time 1
and />
；
(3) Then pass throughi+At time 1
and />
Through a bending moment equilibrium equation to obtaini+At time 1->
；
(4) For the (i + 1) th time by the formula (22)
and />
Correcting;
(5) Repeating the step (3) and the step (4) until
and />
Until the following equation is satisfied:
(6) After the solution at the (i + 1) th moment is obtained, the solution at the next moment is solved as a known condition until the solution of the riser in the whole calculation time is obtained.
Another object of the present invention is to provide a deepwater compliant vertical access riser installation and lowering dynamics analysis system for implementing the deepwater compliant vertical access riser installation and lowering dynamics analysis method, the deepwater compliant vertical access riser installation and lowering dynamics analysis system including:
the node displacement solving model and node speed solving model establishing module is used for dividing the compliant vertical access vertical pipe into flexible micro-sections based on a finite element discrete method, establishing a compliant vertical access vertical pipe flexible micro-section model, solving micro-section corners according to the characteristics of the flexible micro-section corners, and further establishing a node displacement solving model and a node speed solving model through the micro-section corners;
the variable-length compliant vertical passage riser power analysis model is used for solving a model based on node displacement and speed establishment, and establishing a variable-length compliant vertical passage riser power analysis model through a bending moment balance equation of force and bending moment at each node by combining the stress of the model and boundary conditions at two ends;
and the length-variable dynamic response rule acquisition module is used for combining the ocean current flow velocity, the weight of the bottom blowout preventer and the acting force of the buoyancy block and the gravity block on the compliant vertical access riser and obtaining the length-variable dynamic response rule of the compliant vertical access riser in the vertical setting process through the established length-variable compliant vertical access riser power analysis model.
The invention also aims to provide a dynamic detection device for the compliant vertical access riser in deepwater and ultra-deepwater ocean oil and gas development, and the implementation of the dynamic analysis method for the installation and the lowering of the deep-water compliant vertical access riser is right.
It is another object of the present invention to provide a program storage medium that receives user input, the stored computer program causing an electronic device to perform the deepwater compliant vertical access riser installation lowering dynamics analysis method.
It is a further object of the invention to provide a computer apparatus comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the deep water compliant vertical access riser installation lowering dynamics analysis method.
By combining all the technical schemes, the invention has the advantages and positive effects that:
first, aiming at the technical problems existing in the prior art and the difficulty in solving the problems, the technical problems to be solved by the technical scheme of the present invention are closely combined with results, data and the like in the research and development process, and how to solve the technical scheme of the present invention is deeply analyzed in detail, and some creative technical effects brought by the solution of the problems are specifically described as follows: the invention discloses a method for analyzing the power of installation and lowering of a deepwater compliant vertical access vertical pipe. The influence of variable length and the weight of a bottom blowout preventer is considered in the dynamic analysis of the compliant vertical access riser for the first time, the variable length dynamic response prediction method of the compliant vertical access riser in the vertical lowering process during installation is established, and technical guarantee can be provided for the safety of the installation operation of the deepwater compliant vertical access riser.
Secondly, regarding the technical solution as a whole or from the perspective of products, the technical effects and advantages of the technical solution to be protected by the present invention are specifically described as follows: the invention discloses a deepwater compliant vertical access riser installation and lowering dynamic analysis method, which can realize accurate prediction of variable-length dynamic response in the compliant vertical access riser installation and lowering process on the basis of considering the continuity of lowering operation by establishing a flexible micro-section method variable-length compliant vertical access riser dynamic analysis model.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure;
FIG. 1 is a flow chart of a method for analyzing the lowering dynamics of a deep water compliant vertical access riser installation provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of a compliant vertical access riser flexible micro-segment model provided by an embodiment of the invention;
FIG. 3 is a schematic diagram of the angle relationship of flexible micro-segments provided by an embodiment of the present invention;
FIG. 4 is a schematic view of the bending moment relationship of a flexible micro-segment provided by an embodiment of the present invention;
FIG. 5 is a schematic view of a flexible micro-segment model bending provided by an embodiment of the invention;
FIG. 6 is a schematic diagram of a flexible micro-segment node displacement variation relationship provided in an embodiment of the present invention;
FIG. 7 is a flowchart of a variable length compliant vertical access riser installation lowering dynamics analysis model solution provided by an embodiment of the present invention;
FIG. 8 (a) is a full process riser configuration during a change in the installation lowering configuration of a compliant vertical access riser provided by an embodiment of the present invention;
FIG. 8 (b) is a 0-300s riser configuration diagram lowered in a variation of the compliant vertical access riser installation lowering configuration provided by embodiments of the present invention;
FIG. 8 (c) is a 740-940s riser configuration diagram lowered in a variation of a compliant vertical access riser installation lowering configuration provided by an embodiment of the present invention;
FIG. 8 (d) is a riser configuration diagram of the mid-dip 1440-2440s in a variation of the installation dip configuration of a compliant vertical access riser according to an embodiment of the present invention;
FIG. 9 (a) is a graph showing top tension time course during a compliant vertical access riser installation lowering process provided by an embodiment of the present invention;
FIG. 9 (b) is a graph showing the time course of bottom forward displacement during the installation and lowering process of a compliant vertical access riser provided by an embodiment of the present invention;
FIG. 10 is a schematic diagram of a deepwater compliant vertical access riser installation lowering kinetic analysis system provided in an embodiment of the present invention;
in the figure: 1. a node displacement solving model and a node speed solving model establishing module; 2. a variable-length compliant vertical passage riser power analysis model; 3. and a variable length dynamic response rule obtaining module.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
1. Illustrative embodiments are explained.
s1, dividing a compliant vertical access riser into flexible micro-segments based on a finite element discrete method, establishing a compliant vertical access riser flexible micro-segment model, solving micro-segment corners according to the characteristics of the flexible micro-segment corners, and further establishing a node displacement solving model and a node speed solving model through the micro-segment corners;
s2, establishing a variable-length compliant vertical access riser power analysis model through a bending moment balance equation of force and bending moment at each node based on establishing a node displacement and speed solution model and combining model stress and boundary conditions at two ends;
and S3, combining the ocean current flow velocity, the weight of the bottom blowout preventer and the acting force of the buoyancy block and the gravity block on the compliant vertical access riser on the basis, and obtaining a variable length dynamic response rule of the compliant vertical access riser in the vertical installation and lowering process through the variable length compliant vertical access riser power analysis model established in the step S2.
as shown in a schematic diagram of a compliant vertical access riser flexible micro-segment model in fig. 2, a riser mounted and lowered device on a top floating body is used as an origin O, and an OXY global coordinate system is established along the direction of ocean current motion and vertically downward as the forward direction of an X axis and a Y axis, and the compliant vertical access riser is regarded as a two-dimensional Euler-Bernoulli beam and is dispersed into N segments of micro-segments with equal length.
The flexible micro-segment can be bent under the action of external force, and the corner of the riser micro-segment is combined with the length of the riser micro-segment from the angle of the node and the angle of the micro-segment to establish a flexible riser micro-segment system (figure 3 schematic diagram of angle relation of the flexible micro-segment). Wherein, theta i Is N i -N i+1 Angle of micro-segment, representing X-axis to line segment N i -N i+1 The corner of (d); delta theta i Is the change of the angle of the micro-segment and represents N j Node tangent to line N i -N i+1 The turning angle of (c); phi is a i and φi+1 Are all node angles, respectively representing the X axis to node N i Tangent and node N i+1 The corner of the tangent line; in the figure, delta phi i Denoted as node N i Tangent and node N i+1 The angle of rotation between the tangent lines is the change in the node angle.
Assuming that the bending moment in the micro-segment is linearly changed, the nodes N are respectively arranged i Tangent and node N i+1 Bending moment of m i and mi+1 As shown in the bending moment relationship diagram of the flexible micro-segment of FIG. 4, the distance node N on the micro-segment i The bending moment at any length l can be expressed as:
wherein 
Is the length of a micro-segment at a certain time
According to the theory of elastic mechanics, the relationship between curvature and bending moment is:
wherein rho is curvature, M is bending moment, E is elastic modulus, and I is section inertia moment;
as shown in figure 5 for the flexible micro-segment model bend,dsthe intersection point of the normal lines at the two ends is the curvature center, then the curvature radiusρCan be obtained by the following formula:
in the formula 
Is a differential arc segment, is taken out>
Is a differential arc section corner;
substituting equation (3) into equation (2) yields:
substituting equation (1) into equation (4) and finding the length of the micro-segment
Integrating to obtain the change delta phi of the flexible micro-segment node rotation angle i Is represented by formula (5):
according to a geometric relationship Delta theta i Expressed as:
micro-segment node angleφ i Expressed as:
substituting equation (4) into equation (7) to obtain the node angle of the micro-segmentφ i Comprises the following steps:
micro-segment angleθ i Comprises the following steps:
substituting equation (6) and equation (8) into equation (9) to obtain the micro-segment angleθ i Further expressed as:
writing the relational expression of the micro-segment angle and the micro-segment node angle into a matrix form as follows:
wherein phi = [ phi ] 2 ，φ 3 ，φ 4 ，…，φ n+1 ] T ，φ 1 =[φ 1 ，φ 1 ，φ 1 ，…，φ 1 ] T ，θ=[θ 1 ，θ 2 ，θ 3 ，…，θ n ] T ，P 1 and P2 Are n × n matrices derived from equation (8) and equation (10), respectively.
The flexible micro-segment node displacement variation relationship is shown in FIG. 6;
node N i+1 The coordinates in the X direction are:
nodes N of the same reason i+1 The coordinates in the Y direction are:
at the acquisition node N i+1 After displacement of (2), node N i+1 In the X and Y directions
and />
Acceleration of
and />
Further, the following equations (15) and (16) are respectively obtained;
the external forces encountered during installation and lowering of the compliant vertical access riser include hydrodynamic forces, net weight forces, and inertial forces.
Assuming that mass and external force act on the nodes, the external force acting on each node meets a bending moment balance equation:
in the formula ,
，/>
respectively acting on node N i Combining the components of the external force in the X direction and the Y direction;
according to the nodeN 1 ，N 2 ，N 3 ，…，N n The balance relationship of bending moments ofnObtaining a variable-length compliance type vertical passage riser power analysis model by using an equation set; wherein the bending moment value of each node is unknown, and the node hasnUnknown quantity, for the last nodeN n+1 Since the riser bottom end is free in the riser installation state, the node is defined by the boundary conditionN n+1 Bending moment of the site;
in the installation and lowering stage, the bottom boundary of the riser is in a free and unconstrained state, the motion state of the top boundary of the riser is the same as that of the floating platform, and the boundary conditions are expressed as follows:
wherein ,
and />
Respectively the lowering speed and the acceleration of the installation equipment; />
N unknown variables xi exist in the variable-length compliant vertical passage riser power analysis model, and the variable-length compliant vertical passage riser power analysis model is expressed as follows through a vector omega:
in one embodiment of the invention, the solving of the variable length compliant vertical access riser dynamics analysis model comprises:
(1) From the firstiThe time being known
and />
Solving for>
；
(2) The first obtained by the formula (20) and the formula (21) i+ At time 1
and />
；
(3) Then pass throughi+At time 1
and />
Through a bending moment equilibrium equation to obtaini+At time 1->
；
(4) For the (i + 1) th time by the formula (22)
and />
Correcting;
(5) Repeating the step (3) and the step (4) until
and />
Until the following equation is satisfied:
(6) After the solution at the (i + 1) th moment is obtained, the solution at the next moment is solved as a known condition until the solution of the riser in the whole calculation time is obtained.
the node displacement solving model and node speed solving model establishing module 1 is used for dividing the compliant vertical access riser into flexible micro-segments based on a finite element discrete method, establishing a compliant vertical access riser flexible micro-segment model, solving micro-segment corners according to the characteristics of the flexible micro-segment corners, and then establishing a node displacement solving model and a node speed solving model through the micro-segment corners;
the variable-length compliant vertical passage riser power analysis model 2 is used for solving a model based on node displacement and speed establishment, and establishing a variable-length compliant vertical passage riser power analysis model through a bending moment balance equation of force and bending moment at each node by combining the stress of the model and boundary conditions at two ends;
and the length-variable dynamic response rule acquisition module 3 is used for combining the ocean current flow velocity, the weight of the bottom blowout preventer and the acting force of the buoyancy block and the gravity block on the compliant vertical access riser and obtaining the length-variable dynamic response rule of the compliant vertical access riser in the vertical installation and lowering process through the established length-variable compliant vertical access riser power analysis model.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
For the information interaction, execution process and other contents between the above-mentioned devices/units, because the embodiments of the method of the present invention are based on the same concept, the specific functions and technical effects thereof can be referred to the method embodiments specifically, and are not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention. For the specific working process of the units and modules in the system, reference may be made to the corresponding process in the foregoing method embodiment.
2. The application example is as follows:
application scenarios: the method can be applied to the installation and lowering response prediction of the deep water and ultra-deep water compliant vertical passage riser.
The method is applied to dynamic analysis in the installation and lowering process of the compliant vertical passage vertical pipe in the development of deepwater and ultra-deepwater oil and gas fields in the scene without other supplements.
Taking a certain deep water environment as an example, the method for analyzing the installation and lowering power of the deep water compliant vertical access riser disclosed by the application is implemented to obtain the configuration change and the response time of the whole installation process of the compliant vertical access riser, the environment and the parameters of the compliant vertical access riser are shown in table 1, the calculation time step is set to be 0.02s, the linear lowering speed is 1m/s, the ocean current flow rate is 0.5m/s, and the weight of a blowout preventer is 32T. The initial length of the riser is 160m, the riser is divided into 160 micro-sections, and vertical lowering is started.
TABLE 1 Environment and compliant vertical Access riser parameters
FIG. 8 (a) is a full process riser configuration during a change in the drop configuration of a compliant vertical access riser installation provided by an embodiment of the present invention. As shown in fig. 8 (b), during the installation of the lower bare pipe (0-300 m), the compliant vertical access riser is subjected to a small bending moment due to the short lowering length, so that the forward displacement increment is small, and when the installation of the lower bare pipe is completed, the maximum bottom displacement reaches 6.6m. Fig. 8 (b) and 8 (c) show that during installation and lowering of the large buoyancy block lower region (300-490 m) and the small buoyancy block transition region, the compliant vertical access riser forward displacement and bending deformation will gradually increase due to the buoyancy block effect. At the completion of the transition zone installation (1000 m), the bottom maximum displacement is 130.74m. Furthermore, as can be seen from fig. 8 (c), the riser top bends downward when the upper gravity module is installed. As can be seen in fig. 8 (d), during installation of the upper bare pipe (1100-2600 m), the compliant vertical access riser configuration did not change significantly, but downstream displacement gradually increased under the influence of ocean currents. When all parts of the compliant vertical access riser are completely lowered, the maximum displacement of the bottom is 610.5m.
Fig. 9 (a) and 9 (b) show the time course curves of top tension and bottom displacement, respectively, during installation of a compliant vertical access riser. In order to prevent the top tension of the compliant vertical access riser from exceeding the upper tension limit of the apparatus, special attention must be paid to the variation in top tension of the compliant vertical access riser. As can be seen from fig. 9 (a), the top tension increases with the installation of the lower bare pipe, reaching the first extreme 376.17kN after the bare pipe installation is complete (300 m). The top tension then decreases with the installation of the lower large buoyancy block (300-490 m). When the small buoyancy blocks (490-1000 m) of the transition zone are installed, the rate of reduction of the top tension slows down because the transition zone buoyancy coefficient is less than the lower zone buoyancy coefficient. When the transition zone installation is completed, the top tension reaches a minimum of 42.09kN throughout the installation process. The top tension then continued to increase with the installation of the upper gravity module and the upper bare pipe section (1000-2600 m), reaching a maximum of 373.94kN when the lowering of all pipe sections was completed.
The large bottom displacement during installation of the compliant vertical access riser is detrimental to subsequent connection operations between the riser and the wellhead, requiring a clear understanding of the change in flow direction displacement of the compliant vertical access riser throughout the installation process. Figure 9 (b) shows that the velocity of the compliant vertical access riser in the bottom X direction gradually increases due to the influence of the buoyancy and gravity blocks before the upper bare pipe area (0-1100 m) is installed. When the upper bare tube (1100-2600 m) was installed, the velocity in the bottom X direction remained constant and the displacement increased linearly. When all parts of the installation are completed, the maximum downstream displacement of the bottom is 610.5m.
An embodiment of the present invention further provides a computer device, where the computer device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
Embodiments of the present invention further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the steps in the above method embodiments may be implemented.
The embodiment of the present invention further provides an information data processing terminal, where the information data processing terminal is configured to provide a user input interface to implement the steps in the above method embodiments when implemented on an electronic device, and the information data processing terminal is not limited to a mobile phone, a computer, or a switch.
The embodiment of the present invention further provides a server, where the server is configured to provide a user input interface to implement the steps in the above method embodiments when implemented on an electronic device.
Embodiments of the present invention provide a computer program product, which, when running on an electronic device, enables the electronic device to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, and software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (10)
1. A method for analyzing the installation and lowering power of a deepwater compliant vertical access riser is characterized by comprising the following steps:
s1, dividing a compliant vertical access riser into flexible micro-segments based on a finite element discrete method, establishing a compliant vertical access riser flexible micro-segment model, solving micro-segment corners according to the flexible micro-segment corners, and establishing a node displacement solving model and a node speed solving model through the micro-segment corners;
s2, establishing a variable-length compliant vertical access riser power analysis model through a bending moment balance equation of force and bending moment at each node based on establishing a node displacement and speed solution model and combining model stress and boundary conditions at two ends;
and S3, combining the ocean current flow velocity, the weight of the bottom blowout preventer and the acting force of the buoyancy block and the gravity block on the compliant vertical access riser, and obtaining a length dynamic response rule of the compliant vertical access riser in the vertical installation and lowering process through the established length variable compliant vertical access riser power analysis model.
2. The deep water compliant vertical access riser installation and lowering dynamics analysis method of claim 1, wherein in step S1, dividing the compliant vertical access riser into flexible micro-segments based on a finite element discretization method specifically comprises:
the method comprises the steps of taking a vertical pipe on a top floating body as an original point O, taking the vertical pipe on the top floating body as a forward direction of an X axis and a forward direction of a Y axis respectively along the movement direction of ocean currents and vertically downwards, establishing an OXY global coordinate system, taking a compliant vertical passage vertical pipe as a two-dimensional Euler-Bernoulli beam, dispersing the compliant vertical passage vertical pipe into N sections of flexible micro-sections with equal length, and establishing a compliant vertical passage vertical pipe flexible micro-section model.
3. The method for installation and lowering dynamic analysis of a deepwater compliant vertical access riser as claimed in claim 1 wherein, in step S1, solving for a micro-segment turn angle from a flexible micro-segment turn angle comprises:
the flexible micro-segment bends under the action of external force, the corner of the riser micro-segment is combined with the length of the riser micro-segment according to the node angle and the micro-segment angle, and a flexible micro-segment angle relation model formula is established as follows:
in the flexible micro-segment angle relation model formula (10),θ i is thatN i -N i+1 Angle of micro-segment, representing X-axis to line segment N i -N i+1 The turning angle of (c); delta theta i Is the change of the angle of the micro-segment and represents N j Node tangent to line N i -N i+1 The corner of (d); phi is a i and φi+1 Are all node angles and respectively represent the X axis to the node N i Tangent and node N i+1 The corner of the tangent line; delta phi i Denoted as node N i Tangent and node N i+1 The corner between the tangent lines is the change of the node angle;
the bending moment in the micro-segment is linearly changed and is respectively provided with a node N i Tangent and node N i+1 Bending moment of M i and Mi+1 Distance node N on micro-segment in flexible micro-segment bending moment relation model i The bending moment at any length l is expressed as:
wherein ,
is the length of a micro-segment at a certain time;
according to the theory of elastic mechanics, the relationship between curvature and bending moment is:
wherein rho is curvature, M is bending moment, E is elastic modulus, and I is section inertia moment;
establishing a flexible micro-segment model bending model according to a relation model of node bending moment, angle and length, wherein the intersection point of the normal lines at two ends of ds is a curvature center, and then the curvature radius rho is obtained by the following formula (3):
in the formula ,
is a differential arc section, is combined with a light source>
Is a differential arc section corner;
substituting equation (3) into equation (2) yields:
substituting equation (1) into equation (4) and finding the length of the micro-segment
Integrating to obtain the change delta phi of the flexible micro-segment node rotation angle i Is represented by formula (5):
according to a geometric relationship Delta theta i Expressed as:
micro-segment node angleφ i Expressed as:
substituting equation (4) into equation (7) to obtain the micro-segment node angleφ i Comprises the following steps:
micro-segment angleθ i Comprises the following steps:
substituting equation (6) and equation (8) into equation (9) to obtain the micro-segment angleθ i Further expressed as:
writing the relational expression of the micro-segment angle and the micro-segment node angle into a matrix form as follows:
wherein phi = [ phi ] 2 ，φ 3 ，φ 4 ，…，φ n+1 ] T ，φ 1 =[φ 1 ，φ 1 ，φ 1 ，…，φ 1 ] T ，θ=[θ 1 ，θ 2 ，θ 3 ，…，θ n ] T ，P 1 and P2 Are n × n matrices derived from equation (8) and equation (10), respectively.
4. The method for analyzing the installation and lowering power of the deep water compliant vertical access riser as recited in claim 1, wherein in step S1, a nodal displacement solution model and a nodal velocity solution model are established through micro-segment rotation angles, and the solving of the nodal displacement solution model comprises:
node N i+1 The coordinates in the X direction are:
nodes N of the same reason i+1 The coordinates in the Y direction are:
the node speed solving model solving comprises the following steps:
at the acquisition node N i+1 After displacement of (2), node N i+1 In the X and Y directions
and />
Acceleration>
And
further, the following equations (15) and (16) are respectively obtained;
5. the method for installation and lowering power analysis of the deep water compliant vertical access riser according to claim 1, wherein the step S2 of establishing the variable length compliant vertical access riser power analysis model by the bending moment equilibrium equation of force and bending moment at each node by combining the stress of the node bending moment, angle and length relation model and the top boundary condition comprises:
the external forces experienced during installation and lowering of the compliant vertical access riser include: hydrodynamic, net weight, and inertial forces;
the mass and the external force act on the nodes, and the external force acting on each node meets the bending moment balance equation:
in the formula ,
，/>
respectively acting on node N i Combining the components of the external force in the X direction and the Y direction;
according to node N 1 ，N 2 ，N 3 ，…，N n Establishing n equation sets to obtain a variable-length compliant vertical passage riser power analysis model; wherein, the bending moment value on each node is unknown, the node has N unknowns, and for the last node N n+1 Since the riser bottom end is free in the riser installation state, node N is defined by boundary conditions n+1 Bending moment of the column;
in the installation and lowering stage, the bottom boundary of the riser is in a free and unconstrained state, the motion state of the top boundary of the riser is the same as that of the floating platform, and the boundary conditions are expressed as follows:
wherein ,
and />
Respectively the lowering speed and the acceleration of the installation equipment;
n unknown variables xi exist in the variable-length compliant vertical passage riser power analysis model, and the variable-length compliant vertical passage riser power analysis model is expressed as follows through a vector omega:
6. the deepwater compliant vertical access riser installation and lowering dynamic analysis method of claim 5, wherein the solving of the variable length compliant vertical access riser dynamic analysis model comprises:
(1) From the firstiThe time being known
and />
Solving the equation of bending moment equilibrium>
；
(2) The first is obtained by the formula (20) and the formula (21)i+At time 1
and />
；
(3) Then pass throughi+At time 1
and />
Through a bending moment equilibrium equation to obtaini+At time 1->
；
(4) For the (i + 1) th time by the formula (22)
and />
Correcting;
(5) Repeating the step (3) and the step (4) until
and />
Until the following equation is satisfied:
(6) After the solution at the i +1 th moment is obtained, the solution at the next moment is solved as a known condition until the solution of the riser in the whole calculation time is obtained.
7. A deepwater compliant vertical access riser installation and lowering power analysis system is realized by the deepwater compliant vertical access riser installation and lowering power analysis method of any one of claims 1 to 6, and is characterized by comprising the following steps:
the node displacement solving model and node speed solving model establishing module (1) is used for dividing the compliant vertical access vertical pipe into flexible micro-sections based on a finite element discrete method, establishing a compliant vertical access vertical pipe flexible micro-section model, solving micro-section corners according to the characteristics of the flexible micro-section corners, and further establishing a node displacement solving model and a node speed solving model through the micro-section corners;
the variable-length compliant vertical passage riser power analysis model (2) is used for solving a model based on node displacement and speed establishment, and establishing a variable-length compliant vertical passage riser power analysis model through a bending moment balance equation of force and bending moment at each node in combination with the stress of the model and boundary conditions at two ends;
and the length-variable dynamic response rule acquisition module (3) is used for combining the ocean current flow velocity, the weight of the bottom blowout preventer and the acting force of the buoyancy block and the gravity block on the compliant vertical access riser and obtaining the length-variable dynamic response rule of the compliant vertical access riser in the vertical installation and lowering process through the established length-variable compliant vertical access riser power analysis model.
8. A device for detecting the dynamics of a compliant vertical access riser in deep water and ultra-deep water offshore oil and gas development, which is characterized by implementing the method for analyzing the installation and lowering dynamics of the deep water compliant vertical access riser according to any one of claims 1 to 6.
9. A program storage medium for receiving user input, wherein the stored computer program causes an electronic device to perform the deep water compliant vertical access riser installation and lowering dynamics analysis method of any of claims 1-6.
10. A computer arrangement, characterized in that the computer arrangement comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the deep water compliant vertical access riser installation lowering dynamics analysis method of any one of claims 1-6.
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